The Research Of Playing-Chinese-chess Robot Motion Controller

The system of playing-Chinese-chess robot is composed of vision system based on DSP, embedded upper monitor system based on ARM, motion controller and robot arm. The vision system based on DSP is used to collect data of pieces. The data includes the color, the position and the Chinese characters of pieces and so on. Then the vision system encodes these data and sends them to embedded upper monitor system based on ARM. According to the information the embedded upper monitor system based on ARM analyzes where the pieces should be moved. Then the embedded upper monitor system based on ARM makes path planning of moving pieces and sends pulse commands and direction commands that are converted information of path planning into by embedded upper monitor system to motion controller. The motion controller controls the robot arm to move the pieces according to pulse commands and direction commands.This paper developed a 4-axis motion controller based on DSP TMS320F2812 according to the requirements of playing-Chinese-chess robot system in the base of analyzing general motion controller. The motion controller is composed of USB module, DSP module and CPLD module. The USB module is used to receive pulse commands and direction commands from upper monitor, and send the numerical of 4 optical encoders that are collected by QEP in DSP and CPLD to upper monitor. The DSP module is used to make data processing of pulses commands and direction commands with interpolation and speed control algorithm. After data processing the DSP sends pulses into servo drivers. The servo drivers will control the robot arm to move the pieces. The CPLD module is used to count the numerical of two optical encoders and store the conditions of limitation signals, home signals and USB interrupt signals.This paper introduces the three modules in detail. In the last of the paper, we make many experiments to confirm that the design of USB module and the module that is used to count the optical encoder of motion controller is correct. Then this paper proposed some methods to improve the motion controller.